Homing by Z-pulse of servo

[karoria]

Hi Terje, I want to accurately home using Z-pulse of servo/easyservo drive. I also have hard limit switches for homing but want to explore homing like "First seek to limit switch and then slowly feed till Z-pulse signal received from drive. I know, I have to use 2 inputs for each axis in this case, but an example code or exact location where I need to modify code will be a great help. Thanks, Ravi

[terjeio]

There is no need to change any code. Trap hal.homing.get_feedrate in a plugin and switch inputs based on the mode parameter by replacing the hal.homing.get_state function.

[karoria]

There is no need to change any code. Trap hal.homing.get_feedrate in a plugin and switch inputs based on the mode parameter by replacing the hal.homing.get_state function.

Does this mean, I have to write a new plugin? or should I edit machine_limits.h directly?

[terjeio]

Plugin code is your best option - modifying the core means that you have to update it for new releases.